Analiza teksture površine obrađene robotskim sustavom

master's thesis

• Title (english): Analysis of surface texture machined using robot milling system
• Author: Izabela Mezga
• Mentor: Tomislav Staroveški (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-07-20, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; Production Mechanical Engineering

Abstract

Primjena industrijskih robota za postupke obrade odvajanje privlači sve više i više pažnje. U usporedbi s alatnim strojevima, industrijski roboti nude visoku fleksibilnost i niže investicijske troškove, no njihov nedostatak krutosti predstavlja glavnu prepreku postizanju uskih tolerancija i visoke kvalitete obrađenih površina. K tome, krutost robota nije konstantna vrijednost nego varira u njegovom radnom prostoru i ovisna je o samom položaju robota, što njegovu primjenu čini još izazovnijom. Stoga je u sklopu ovog rada proveden eksperiment s ciljem utvrđivanja utjecaja krutosti robota na teksturu površine obrađene glodanjem. Izvršena je obrada robotom u dva različita položaja, odnosno obrađena su dva identična ispitna uzorka na različitoj lokaciji unutar radnog prostora robota (jedan bliže bazi robota, a drugi udaljeniji od baze robota). U radu su također opisane i aktivnosti koje su prethodile samoj obradi (od izrade tehnološkog procesa do simulacija obrada). Shodno provedenoj analizi tekstura obrađenih površina, više vrijednosti parametara hrapavosti utvrđene su na obratku koji je bio udaljeniji od baze robota, odnosno koji je obrađivan sa ispruženom robotskom rukom. Ustanovljeno je da obrada sa smanjenom krutošću robotske ruke u ispruženom položaju, ima utjecaj na smanjenje kvalitete obrađene površine.

Abstract (english)

The application of industrial robots in machining processes is attracting more and more attention. Compared to machine tools, industrial robots offer higher flexibility and lower investment costs; however, their lack of stiffness is the main obstacle to achieving tight tolerances and high-quality machined surfaces. In addition, the stiffness of the robot is not a constant value, but varies in its working space and depends on the posture of the robot itself, which makes its application even more challenging. Therefore, as part of this thesis, an experiment was conducted to determine the influence of the robot stiffness on the texture of the milled surface. Robotic machining was performed at two different clamping positions, that is, two identical test samples were machined at different locations within the robot's workspace (one closer to the robot base and the other further away from the robot base). This thesis also describes the activities that preceded robotic machining (from the design of the technological process to machining simulations). According to the results obtained from the surface texture analysis, higher values of the roughness parameters were observed on the workpiece that was further away from the base of the robot and machined with an extended robot arm. It was found that machining with reduced stiffness of the robotic arm in an extended position negatively affected the quality of the machined surface.

• Keywords: industrijski robot; robotsko glodanje; položaj robota; krutost robota; kvaliteta površine; analiza teksture površine
• Keywords (english): industrial robot; robotic milling; robot posture; robot stiffness; surface quality; surface texture analysis
• Language: croatian
• URN:NBN: urn:nbn:hr:235:701899
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2023-07-18 08:36:45